CN114378790B - Whole body exoskeleton facing carrying assistance - Google Patents
Whole body exoskeleton facing carrying assistance Download PDFInfo
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- CN114378790B CN114378790B CN202210026037.6A CN202210026037A CN114378790B CN 114378790 B CN114378790 B CN 114378790B CN 202210026037 A CN202210026037 A CN 202210026037A CN 114378790 B CN114378790 B CN 114378790B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses a whole body exoskeleton facing carrying assistance, which comprises a waist backboard mechanism, a shoulder mechanism, a big arm mechanism, a small arm mechanism, a hip mechanism and a big leg mechanism. When a wearer carries a heavy object, a motor in the shoulder mechanism provides active assistance, and a tension spring in the big and small arm mechanism and a compression spring three-section telescopic rod in the hip and thigh mechanism provide passive assistance; through the design of binding the whole body at a plurality of positions and the design of a unique adjustable supporting plate at four limbs, the wearing comfort is ensured, so that the load is mainly transmitted to the ground through the exoskeleton, and partial load is uniformly born by the whole body; the exoskeleton is designed to be adjustable in length at multiple positions, so that the applicable crowd range is enlarged; the joints are mechanically limited, so that the safety in the carrying process is ensured, and a part of supporting function is provided; the upper limb on one side adopts 4 degrees of freedom, the lower limb on one side adopts 5 degrees of freedom, and the flexibility is strong; the overall structure of the exoskeleton is simple and compact, and a lightweight design is adopted, so that weight is reduced by a plurality of hollow parts.
Description
Technical Field
The invention belongs to the technical field of power-assisted robots, and particularly relates to a whole-body exoskeleton facing carrying power assistance.
Background
With the advent of the 4.0 era of industry and the high-speed development of society, the processing industry and the logistics industry have become the pillar industry in China. But the work of loading and unloading materials, transporting materials and the like in factories and logistics warehouses is mainly finished by manpower. The exoskeleton commonly used in the market at present is mainly used in the field of medical rehabilitation and health care, but is rarely put into use in material handling. Therefore, the wearable light-weight whole-body exoskeleton is designed, so that the working intensity of workers can be reduced, the working efficiency is improved, and the personal safety of the workers is guaranteed.
At present, the existing design of the carrying assisting exoskeleton has the problems of light weight, comfort and practicability. For example, patent CN106695760a discloses a "whole body exoskeleton-assisted robot for assisted transport", which is designed to lack shoulder internal/external rotation degrees of freedom, hip external/internal contraction, internal/external rotation degrees of freedom, limit the wearer's range of motion, and lack flexibility; the joint movement range is not limited mechanically, so that the safety of a wearer cannot be ensured; lower limb designs lack support and the weight and exoskeleton dead weight are largely borne by the wearer when the wearer squats down. The invention patent CN107984461A discloses a pneumatic upper limb power-assisted exoskeleton robot facing to carrying work, and novel pneumatic muscles are used as drivers, so that the driving force-dead weight ratio of the robot is high, and the energy use efficiency is improved. However, the load and the self weight of the exoskeleton are still borne by the wearer, so that the wearer is subjected to waist and back load, and the wearer is easy to damage the waist and back after long-time use.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a whole body exoskeleton facing carrying assistance, which comprises a waist backboard mechanism, a shoulder mechanism, a big and small arm mechanism, a hip mechanism and a big and small leg mechanism. When a wearer carries a heavy object, a motor in the shoulder mechanism provides active assistance, and a tension spring in the big and small arm mechanism and a compression spring three-section telescopic rod in the hip and thigh mechanism provide passive assistance; through the design of binding the whole body at a plurality of positions and the design of a unique adjustable supporting plate at four limbs, the wearing comfort is ensured, so that the load is mainly transmitted to the ground through the exoskeleton, and partial load is uniformly born by the whole body; the exoskeleton is designed to be adjustable in length at multiple positions, so that the applicable crowd range is enlarged; the joints are mechanically limited, so that the safety in the carrying process is ensured, and a part of supporting function is provided; the upper limb on one side adopts 4 degrees of freedom, the lower limb on one side adopts 5 degrees of freedom, and the flexibility is strong; the overall structure of the exoskeleton is simple and compact, and a lightweight design is adopted, so that weight is reduced by a plurality of hollow parts.
The technical scheme adopted for solving the technical problems is as follows:
a whole body exoskeleton facing carrying assistance comprises a waist backboard mechanism, a shoulder mechanism, a big arm mechanism, a small arm mechanism, a hip mechanism and a big leg mechanism; the shoulder mechanism is provided with a left part and a right part which are the same and are respectively fixedly connected with the left end and the right end of the top of the waist and back plate mechanism; the large arm mechanism and the small arm mechanism are provided with a left part and a right part which are the same and are respectively connected with the left part and the right part of the shoulder mechanism; the hip mechanism is provided with a left part and a right part which are the same and are fixedly connected with the left end and the right end of the bottom of the waist and back plate mechanism respectively; the thigh and calf mechanism is provided with a left part and a right part which are the same and are fixedly connected with the left part and the right part of the hip mechanism respectively; the whole body exoskeleton is integrally formed into a human shape, and is fixed with a wearer through a binding belt when in use;
The waist and back plate mechanism comprises a back plate and a waist plate; the backboard is T-shaped, and a plurality of through holes are formed in the left end and the right end of the top and are used for being connected with the shoulder mechanism; a plurality of rectangular grooves are symmetrically formed in the two sides of the top and the middle of the backboard and are used for fixing the binding bands; two vertical rows of through holes are formed in the lower end of the backboard and are used for being connected with the waist board; the waist plate is in an inverted T shape, two vertical rows of through holes are formed in the middle of the waist plate, fixed connection is achieved through the cooperation of bolts and the through holes of the back plate, and the length adjustment of the waist-back plate mechanism is achieved through changing the alignment position of the through holes by moving the waist plate up and down; rectangular grooves are formed in the left side and the right side of the waist plate and used for fixing the binding bands; the left end and the right end of the bottom of the waist plate are provided with a plurality of through holes for connecting with a hip mechanism;
the left part of the shoulder mechanism comprises a first shoulder connecting plate, a shoulder hinge, a second shoulder connecting plate, a third shoulder connecting plate, a fourth shoulder connecting plate and a driving device; the first shoulder connecting plate is provided with a plurality of rows of through holes, the through holes at the left end of the top of the backboard are matched with each other through bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the first shoulder connecting plate left and right to realize whole-body exoskeleton shoulder width adjustment; the first shoulder connecting plate and the second shoulder connecting plate are connected through a shoulder hinge, and the shoulder hinge assists the shoulder joint to rotate inwards or outwards; the middle parts of the third shoulder connecting plate and the second shoulder connecting plate are provided with through holes, the third shoulder connecting plate and the second shoulder connecting plate are hinged through shaft shoulder bolts, and the third shoulder connecting plate can rotate around the second shoulder connecting plate to assist the outward extension and inward retraction of shoulder joints; the fourth shoulder connecting plate is provided with a plurality of rows of through holes, the through holes on the third shoulder connecting plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the third shoulder connecting plate left and right to realize the length adjustment of the whole-body exoskeleton big arm; the driving device is fixedly arranged on the fourth shoulder connecting plate; the right part and the left part of the shoulder mechanism are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetry axis;
The left part of the big and small arm mechanism comprises a first big arm plate, a big arm supporting plate, a second big arm plate, a tension spring, a small arm plate and a small arm supporting plate; one end of the first large arm plate is connected with a driving device, and the driving device can drive the first large arm plate to rotate; the other end of the first large arm plate is provided with a plurality of rows of through holes, the through holes on the second large arm plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the second large arm plate to realize the length adjustment of the whole-body exoskeleton large arm; the large arm supporting plate is fixedly arranged on the first large arm plate, plays a binding and fixing role on the large arm, and provides support for the large arm when carrying heavy objects; the small arm plate and the end part of the second large arm plate are provided with through holes, the small arm plate and the second large arm plate are hinged by using shoulder bolts, and the small arm plate can rotate around the second large arm plate to assist the whole body exoskeleton elbow joint to bend and stretch; the mechanical limiting plate is arranged on the second large arm plate, so that the whole body exoskeleton elbow joint movement range is 30-120 degrees when the small arm plate rotates; one end of the tension spring is connected with the first large arm plate, and the other end of the tension spring is connected with the small arm plate, so that passive assistance is provided for wearing a carrying heavy object; the small arm supporting plate is fixedly arranged on the small arm plate, plays a binding and fixing role on the small arm, and provides support for the small arm when carrying heavy objects; square grooves are formed in the first big arm plate and the big arm supporting plate and used for fixing the binding belt and the big arm of a wearer; the end part of the forearm plate is provided with a square groove for fixing the binding belt and binding the wrist of a wearer; the right part and the left part of the large arm mechanism and the small arm mechanism are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetrical axis;
The left part of the hip mechanism comprises a first hip connecting plate, a second hip connecting plate, a third hip connecting plate, a fourth hip connecting plate, a hip hinge, a first thigh plate and a hip pressure spring three-section telescopic rod; the first hip connecting plate is provided with a plurality of rows of through holes, the through holes at the left end of the bottom of the waist plate are matched with bolts to realize fixed connection, and the waist plate is moved left and right to change the alignment position of the through holes to realize crotch width adjustment of the whole body exoskeleton; the first hip connecting plate and the second hip connecting plate are connected through a hip hinge to assist the internal rotation or the external rotation of the hip joint of the whole body exoskeleton; the middle part of the second hip connecting plate is provided with a cylindrical bulge, and forms mechanical limit with a limit groove of a third hip connecting plate, and the third hip connecting plate rotates around the end part of the second hip connecting plate to assist the abduction or adduction of the whole body exoskeleton hip joint, and simultaneously limit the abduction limit of the hip joint by 45 degrees and the adduction limit by 20 degrees, so that the hip joint has a protection function; one end of the fourth hip connecting plate is provided with a plurality of rows of through holes, the through holes at the end part of the third hip connecting plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the third hip connecting plate left and right to realize thickness adjustment of thighs of the whole body exoskeleton; the other end of the fourth hip connecting plate is provided with a cylindrical bulge, and the cylindrical bulge and an upper end limiting groove of the first thigh plate form mechanical limit, the first thigh plate rotates around the end part of the fourth hip connecting plate to assist the whole body exoskeleton to assist the hip joint to flex or extend, the hip joint to flex, namely, the thigh rod to lift up is limited to 145 degrees, and the hip joint to extend to limit to 40 degrees, so that the hip joint protection function is realized; the hip pressure spring three-section type telescopic rod is hinged with the third hip connecting plate and the first thigh plate through shaft shoulder bolts respectively; the hip pressure spring three-section telescopic rod is in a compressed state when a wearer stands upright, and provides a supporting function for the exoskeleton upper limb and the load thereof; when the wearer squats down, the telescopic rod stretches, and the pressure spring is in a relaxed state; the right part and the left part of the hip mechanism are symmetrically arranged by taking the vertical central axis of the waist backboard mechanism as a symmetrical axis;
The three-section telescopic rod of the hip pressure spring comprises an upper base, a thin barrel, a middle barrel, a thick barrel, a lower base and the hip pressure spring; one end of the upper base and one end of the thin cylinder are respectively provided with a through hole, and the upper base and the thin cylinder are fixed by bolts; the diameter of the other end of the thin cylinder is increased, and the thin cylinder is in clearance fit with the inner part of the middle cylinder; one end of the middle cylinder is provided with a bayonet, the bayonet is provided with a through hole and is in clearance fit with the middle part of the thin cylinder, so that the middle cylinder and the thin cylinder piston can always be coaxial when moving; the matching mode of the middle cylinder and the coarse cylinder is the same as that of the fine cylinder and the middle cylinder; one end of the lower base is fixed with one end of the thick cylinder through four bolts; the side surfaces of the thick cylinder and the middle cylinder are respectively provided with a through hole for exhausting, so that resistance caused by inconsistent air pressure and air pressure in the airtight pipeline when the hip pressure spring three-section type telescopic rod is stretched and compressed is prevented, and lubricating oil is conveniently added from the through holes; the hip pressure spring is sleeved on the thin cylinder, the middle cylinder and the thick cylinder, one end of the hip pressure spring is fixed on the lower base, the other end of the hip pressure spring is suspended, and the hip pressure spring is in a compressed state when a wearer stands upright, so that support is provided for the hip of the wearer; when a wearer squats down, the three-section telescopic rod of the hip pressure spring stretches, the upper end of the hip pressure spring is separated from contact with the upper base, and the hip pressure spring is in a relaxed state and is recovered to be original length;
The left part of the thigh-and-calf mechanism comprises a second thigh plate, a thigh supporting plate, a first calf plate, a second calf plate, a third calf plate, a calf supporting plate, a foot plate and a leg pressure spring three-section telescopic rod; one end of the second thigh plate is provided with a plurality of rows of through holes, the through holes at the lower end of the first thigh plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the first thigh plate to realize the adjustment of the thigh length of the whole body exoskeleton; the other end of the second thigh plate is provided with a cylindrical bulge, the cylindrical bulge and a limit groove at the upper end of the first shank plate form mechanical limit, the first shank plate can rotate around the second thigh plate to assist the knee joint to flex or stretch, meanwhile, the knee joint is limited to not stretch excessively, the stretching limit is normally straightened by 0 degrees, and the knee joint is limited to flex limit of 135 degrees; the lower end of the first shank plate and the upper end of the second shank plate are fixed through bolts; the upper end of the third shank plate is provided with a plurality of rows of through holes, the through holes at the lower end of the second shank plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the second shank plate to realize overall exoskeleton shank length adjustment; the foot plate is hinged with the third shank plate through a shaft shoulder bolt to assist the ankle joint to flex or stretch; the foot plate is hinged with the third shank plate through a shaft shoulder bolt to assist the ankle joint to flex/stretch; the leg pressure spring three-section type telescopic rod is hinged with the second thigh plate and the second shank plate through shaft shoulder bolts respectively; the working principle of the leg pressure spring three-section type telescopic rod is the same as that of the hip pressure spring three-section type telescopic rod, when a wearer stands upright, the pressure spring of the leg pressure spring three-section type telescopic rod is in a relaxed state, and when the wearer squats down, the pressure spring of the leg pressure spring three-section type telescopic rod is compressed to provide partial support for the lower limb exoskeleton; the thigh supporting plate is fixedly arranged on the second thigh plate, plays a binding and fixing role on the thigh, and provides support for the thigh when carrying heavy objects; the lower leg supporting plate is fixedly arranged on the third lower leg plate, plays a binding and fixing role on the lower leg, and provides support for the lower leg when carrying heavy objects; the second thigh plate, the thigh supporting plate, the first shank plate, the second shank plate, the third shank plate and the shank supporting plate are respectively provided with square grooves, and the thigh and shank binding is respectively realized by the universal fixing binding bands; the foot plate is provided with a square groove for fixing the binding belt to bind the foot plate; the right part and the left part of the thigh and shank mechanisms are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetrical axis;
Further, the backboard, waist panel, first thigh panel, thigh support panel, forearm support panel, first hip connection board, third hip connection board, fourth hip connection board, first thigh panel, second thigh panel, thigh support panel, first calf panel, second calf panel, third calf panel, calf support panel and foot board are provided with square grooves for weight reduction.
Further, the driving device is an intelligent controller integrating a servo motor, a harmonic reducer and an encoder, and the inertial measurement unit and the film pressure sensor are utilized to collect motion information of a wearer and feed the motion information back to the upper computer, so that the operation intention of the wearer is judged, and then the motor is driven to rotate, so that active assistance is provided for the wearer;
further, the servo motor is a disc motor of the model QDD Pro-PR60-100-90, and the output torque of the motor drives the first large arm plate to rotate after being amplified by the harmonic reducer so as to assist the buckling or stretching of the shoulder joint.
Further, the upper limb of the whole body exoskeleton adopts 4 degrees of freedom, and the lower limb adopts 5 degrees of freedom.
Further, the inner side of the binding band at the upper end of the backboard is provided with a sponge ventilation shoulder pad; the high-density sponge pads are arranged on the inner side of the back plate, the inner side of the big arm supporting plate, the inner side of the small arm supporting plate, the inner side of the thigh supporting plate, the inner side of the small leg supporting plate and the inner side of the waist plate, so that wearing comfort is improved.
The beneficial effects of the invention are as follows:
1. the invention provides a whole-body exoskeleton facing carrying assistance, which adopts a design scheme of active and passive combination, is beneficial to simplifying the structure, ensuring the assistance strength and improving the endurance time; the passive power-assisted telescopic rod adopts a three-section design, so that the telescopic range is enlarged, and the flexibility of the exoskeleton is improved.
2. The invention ensures the reliability of binding and the wearing comfort through the design of binding at a plurality of parts of the whole body, so that the load is mainly transmitted to the ground through the exoskeleton, and partial load is uniformly born by the whole body; the limbs are provided with a plurality of groups of binding belts, so that the binding reliability is guaranteed, and the high-density foam-rubber cushion improves the wearing comfort.
3. The exoskeleton of the invention adopts a length-adjusting design at multiple positions, thereby increasing the applicable crowd range.
4. The joints adopt mechanical limit, so that the safety in the carrying process is ensured, and a part of supporting function is provided; the shoulder, elbow, hip and knee joints are all provided with mechanical limits for buckling/stretching, so that the safety of a wearer is ensured on one hand, and on the other hand, a part of passive supporting effect can be provided when the human body squats down or the arms lift up each joint to be in a limit position.
5. The single-side upper limb adopts 4 degrees of freedom, the single-side lower limb adopts 5 degrees of freedom, and the flexibility is strong.
6. The exoskeleton disclosed by the invention has a simple and compact overall structure, is designed in a lightweight manner, and is hollowed out at a plurality of positions to reduce weight.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the waist and back plate mechanism of the present invention.
FIG. 3 is a schematic view of the shoulder mechanism of the present invention.
Fig. 4 is an exploded view of the shoulder mechanism of the present invention.
Fig. 5 is a schematic view of a large and small arm mechanism according to the present invention.
Fig. 6 is a schematic view of the hip mechanism of the present invention.
Fig. 7 is an exploded view of the hip mechanism of the present invention.
Fig. 8 is a schematic view of the thigh and calf mechanism of the invention.
Fig. 9 is a schematic view of a three-stage telescopic rod of the hip compression spring of the present invention.
Fig. 10 is an exploded view of the three-stage telescopic rod of the hip compression spring of the present invention.
Reference numerals illustrate: 1-a second shoulder web; 2-a first shoulder web; 3-a back plate; 4-shoulder hinges; 5-a third shoulder web; 6-a fourth shoulder web; 7-a driving device; 8-a first large arm plate; 9-a large arm support plate; 10-a tension spring; 11-armlet; 12-a second large arm plate; 13-forearm support plate; 14-waist plate; 15-a first hip connection plate; 16-hip hinge; 17-a second hip connection plate; 18-a third hip connection plate; 19-a fourth hip connection plate; a 20-hip pressure spring three-section telescopic rod; 21-a first thigh plate; 22-thigh support plates; 23-a second thigh plate; 24-three-section telescopic rod of thigh compression spring; 25-a first calf plate; 26-a second calf plate; 27-a lower leg support plate; 28-a third calf plate; 29-foot plate; 20-1-lower base, 20-2-thick barrel, 20-3-hip compression spring, 20-4-middle barrel, 20-5-thin barrel and 20-6-upper base.
Detailed Description
The invention will be further described with reference to the drawings and examples.
As shown in fig. 1, a whole body exoskeleton facing to carrying assistance comprises a waist backboard mechanism, a shoulder mechanism, a big and small arm mechanism, a hip mechanism and a big and small leg mechanism; the shoulder mechanism is provided with a left part and a right part which are the same and are respectively fixedly connected with the left end and the right end of the top of the waist and back plate mechanism; the large arm mechanism and the small arm mechanism are provided with a left part and a right part which are the same and are respectively connected with the left part and the right part of the shoulder mechanism; the hip mechanism is provided with a left part and a right part which are the same and are fixedly connected with the left end and the right end of the bottom of the waist and back plate mechanism respectively; the thigh and calf mechanism is provided with a left part and a right part which are the same and are fixedly connected with the left part and the right part of the hip mechanism respectively; the whole body exoskeleton is integrally formed into a human shape, and is fixed with a wearer through a binding belt when in use;
the waist and back plate mechanism comprises a back plate 3 and a waist plate 14; the backboard 3 is T-shaped, and a plurality of through holes are formed in the left end and the right end of the top and are used for being connected with the shoulder mechanism; a plurality of rectangular grooves are symmetrically formed in the two sides of the top and the middle of the backboard 3 and used for fixing the binding bands; two vertical rows of through holes are formed at the lower end of the backboard 3 and are used for being connected with the waist board 14; the waist plate 14 is in an inverted T shape, two vertical rows of through holes are arranged in the middle, fixed connection is realized through the cooperation of bolts and the through holes of the backboard 3, and the length adjustment of the waist backboard mechanism is realized by changing the alignment position of the through holes through up and down movement of the waist plate 14; rectangular grooves are formed in the left side and the right side of the waist plate 14 and used for fixing the binding bands; the left end and the right end of the bottom of the waist plate 14 are provided with a plurality of through holes for connecting with a hip mechanism;
The left part of the shoulder mechanism comprises a first shoulder connecting plate 2, a shoulder hinge 4, a second shoulder connecting plate 1, a third shoulder connecting plate 5, a fourth shoulder connecting plate 6 and a driving device 7; a plurality of rows of through holes are formed in the first shoulder connecting plate 2, fixed connection is realized through the cooperation of bolts and the through holes at the left end of the top of the backboard 3, and the whole-body exoskeleton shoulder width adjustment is realized through the left-right movement of the first shoulder connecting plate 2 to change the alignment position of the through holes; the first shoulder connecting plate 2 is connected with the second shoulder connecting plate 1 through a shoulder hinge 4, and the shoulder hinge 4 assists the shoulder joint to rotate inwards and outwards; the middle parts of the third shoulder connecting plate 5 and the second shoulder connecting plate 1 are provided with through holes, the third shoulder connecting plate 5 and the second shoulder connecting plate 1 are hinged through shaft shoulder bolts, and the third shoulder connecting plate 5 can rotate around the second shoulder connecting plate 1 to assist the outward extension and inward retraction of shoulder joints; the fourth shoulder connecting plate 6 is provided with a plurality of rows of through holes, the through holes on the third shoulder connecting plate 5 are matched through bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the third shoulder connecting plate 5 left and right to realize the length adjustment of the whole-body exoskeleton big arm; the driving device 7 is fixedly arranged on the fourth shoulder connecting plate 6; the right part and the left part of the shoulder mechanism are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetry axis;
The left part of the big and small arm mechanism comprises a first big arm plate 8, a big arm supporting plate 9, a second big arm plate 12, a tension spring 10, a small arm plate 11 and a small arm supporting plate 13; one end of the first large arm plate 8 is connected with a driving device 7, and the driving device 7 can drive the first large arm plate 8 to rotate; the other end of the first large arm plate 8 is provided with a plurality of rows of through holes, the through holes on the second large arm plate 12 are matched through bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the second large arm plate 12 to realize the length adjustment of the whole-body exoskeleton large arm; the large arm supporting plate 9 is fixedly arranged on the first large arm plate 8, plays a binding and fixing role on the large arm, and provides support for the large arm when carrying heavy objects; the end parts of the small arm plate 11 and the second large arm plate 12 are provided with through holes, the small arm plate 11 and the second large arm plate 12 are hinged by using shoulder bolts, and the small arm plate 11 can rotate around the second large arm plate 12 to assist the whole body exoskeleton elbow joint to flex and stretch; the second large arm plate 12 is provided with a mechanical limiting plate, so that the whole body exoskeleton elbow joint movement range is 30-120 degrees when the small arm plate 11 rotates; one end of the tension spring 10 is connected with the first large arm plate 8, and the other end of the tension spring is connected with the small arm plate 11, so that passive assistance is provided for wearing a carrying heavy object; the small arm supporting plate 13 is fixedly arranged on the small arm plate 11, plays a binding and fixing role on the small arm, and provides support for the small arm when carrying heavy objects; square grooves are formed in the first big arm plate 8 and the big arm support plate 9 and used for fixing the binding belt and the big arm of a wearer; the end part of the forearm 11 plate is provided with a square groove for fixing the binding belt to bind the wrist of a wearer; the right part and the left part of the large arm mechanism and the small arm mechanism are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetrical axis;
The left part of the hip mechanism comprises a first hip connecting plate 15, a second hip connecting plate 17, a third hip connecting plate 18, a fourth hip connecting plate 19, a hip hinge 16, a first thigh plate 21 and a hip pressure spring three-section telescopic rod 20; the first hip connecting plate 15 is provided with a plurality of rows of through holes, the through holes at the left end of the bottom of the waist plate 14 are matched with bolts to realize fixed connection, and the waist plate 14 is moved left and right to change the alignment position of the through holes to realize crotch width adjustment of the whole body exoskeleton; the first hip connecting plate 15 and the second hip connecting plate 17 are connected through a hip hinge 16 to assist the internal rotation or the external rotation of the hip joint of the whole body exoskeleton; the middle part of the second hip connecting plate 17 is provided with a cylindrical bulge which forms mechanical limit with a limit groove of a third hip connecting plate 18, and the third hip connecting plate 18 rotates around the end part of the second hip connecting plate 17 to assist the abduction or adduction of the whole body exoskeleton hip joint, and simultaneously limit the abduction limit of the hip joint by 45 degrees and the adduction limit by 20 degrees, thereby playing a role in protection; one end of the fourth hip connecting plate 19 is provided with a plurality of rows of through holes, the through holes at the end part of the third hip connecting plate 18 are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the third hip connecting plate 18 left and right to realize thickness adjustment of thighs of the whole body exoskeleton; the other end of the fourth hip connecting plate 19 is provided with a cylindrical bulge, and forms mechanical limit with the upper limit groove of the first thigh plate 21, the first thigh plate 21 rotates around the end of the fourth hip connecting plate 19 to assist the whole body exoskeleton to assist the hip joint to flex or extend, the limit of the hip joint to flex, namely the limit of the lifting of a thigh rod is 145 degrees, and the limit of the hip joint to extend is 40 degrees, so that the protection effect is achieved; the hip pressure spring three-section telescopic rod 20 is hinged with the third hip connecting plate 18 and the first thigh plate 21 through shaft shoulder bolts respectively; the hip compression spring three-section telescopic rod 20 is in a compressed state when a wearer stands upright, and provides a supporting effect for the exoskeleton upper limb and the load thereof; when a wearer squats down, the telescopic rod 20 stretches, the upper end of the pressure spring is separated from contact with the upper base 20-6, and the pressure spring is in a relaxed state; the right part and the left part of the hip mechanism are symmetrically arranged by taking the vertical central axis of the waist backboard mechanism as a symmetrical axis;
The three-section telescopic rod 20 of the hip pressure spring comprises an upper base 20-6, a thin barrel 20-5, a middle barrel 20-4, a thick barrel 20-2, a lower base 20-1 and a hip pressure spring 20-3; through holes are respectively formed at one end of the upper base 20-6 and one end of the thin barrel 20-5, and the upper base and the thin barrel are fixed by bolts; the diameter of the other end of the thin barrel 20-5 is increased, and the thin barrel is in clearance fit with the inside of the middle barrel 20-4; one end of the middle cylinder 20-4 is provided with a bayonet, the bayonet is provided with a through hole and is in clearance fit with the middle part of the thin cylinder 20-5, so that the middle cylinder and the thin cylinder piston can always be coaxial when moving; the matching mode of the middle cylinder and the coarse cylinder is the same as that of the fine cylinder and the middle cylinder; one end of the lower base 20-1 is fixed with one end of the coarse cylinder 20-2 through four bolts; the side surfaces of the thick cylinder and the middle cylinder are respectively provided with a through hole for exhausting, so that resistance caused by inconsistent air pressure in the closed pipeline and atmospheric pressure when the hip pressure spring three-section telescopic rod 20 performs stretching compression is prevented, and lubricating oil is conveniently added from the through holes; the hip pressure spring 20-3 is sleeved on the thin barrel 20-5, the middle barrel 20-4 and the thick barrel 20-2, one end of the hip pressure spring 20-3 is fixed on the lower base, the other end is suspended, and when a wearer stands upright, the hip pressure spring is in a compressed state to provide support for the hip of the wearer; when a wearer squats down, the three-section telescopic rod of the hip pressure spring stretches, the upper end of the hip pressure spring is separated from contact with the upper base, and the hip pressure spring is in a relaxed state and is recovered to be original length;
The left part of the thigh mechanism comprises a second thigh plate 23, a thigh support plate 22, a first shank plate 25, a second shank plate 26, a third shank plate 28, a shank support plate 27, a foot plate 29 and a leg compression spring three-section telescopic rod 24; one end of the second thigh plate 23 is provided with a plurality of rows of through holes, the through holes at the lower end of the first thigh plate 21 are matched through bolts to realize fixed connection, and the alignment position of the through holes is changed through moving the first thigh plate 21 to realize the adjustment of the thigh length of the whole body exoskeleton; the other end of the second thigh plate 23 is provided with a cylindrical bulge, a mechanical limit is formed by the cylindrical bulge and a limit groove at the upper end of the first shank plate 25, the first shank plate 25 can rotate around the second thigh plate 23 to assist the knee joint to flex or stretch, meanwhile, the knee joint is limited to not stretch excessively, the stretching limit is normally straightened by 0 degrees, and the knee joint bending limit is limited to 135 degrees; the lower end of the first shank plate 25 and the upper end of the second shank plate 26 are fixed by bolts; the upper end of the third shank plate 28 is provided with a plurality of rows of through holes, the through holes at the lower end of the second shank plate 26 are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the second shank plate 26 to realize overall exoskeleton shank length adjustment; the foot plate 29 is hinged with the third lower leg plate 28 through a shaft shoulder bolt to assist the ankle joint to flex or stretch; the foot plate 29 is hinged with the third lower leg plate 28 through a shaft shoulder bolt to assist the ankle joint to flex/stretch; the leg pressure spring three-section type telescopic rod 24 is hinged with the second thigh plate 23 and the second shank plate 26 through shaft shoulder bolts respectively; the working principle of the leg compression spring three-section type telescopic rod 24 is the same as that of the hip compression spring three-section type telescopic rod 20, when a wearer stands upright, the compression spring of the leg compression spring three-section type telescopic rod 24 is in a relaxed state, and when the wearer squats down, the compression spring of the leg compression spring three-section type telescopic rod 24 is compressed to provide partial support for the lower limb exoskeleton; the thigh support plate 22 is fixedly arranged on the second thigh plate 23, plays a binding and fixing role on the thigh, and provides support for the thigh when carrying heavy objects; the shank support plate 27 is fixedly arranged on the third shank plate 28, plays a binding and fixing role on the shank, and provides support for the shank when carrying heavy objects; the second thigh plate 23, the thigh support plate 22, the first shank plate 25, the second shank plate 26, the third shank plate 28 and the shank support plate 27 are all provided with square grooves, and the general fixing straps respectively realize thigh and shank binding; the foot plate 29 is provided with a square groove for fixing a binding band to bind the foot plate; the right part and the left part of the thigh and shank mechanisms are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetrical axis;
Further, the backboard 3, waist plate 14, first thigh plate 8, thigh support plate 9, forearm plate 11, forearm support plate 13, first hip connection plate 15, third hip connection plate 18, fourth hip connection plate 19, first thigh plate 21, second thigh plate 23, thigh support plate 22, first calf plate 25, second calf plate 26, third calf plate 28, calf support plate 27 and foot plate 29 are provided with square grooves for weight reduction.
Further, the driving device 7 is an intelligent controller integrating a servo motor, a harmonic reducer and an encoder, and utilizes an inertia measurement unit and a film pressure sensor to collect motion information of a wearer and feed the motion information back to the upper computer, so that the operation intention of the wearer is judged, and then the motor is driven to rotate, so that active assistance is provided for the wearer;
further, the servo motor is a disc motor of the model QDD Pro-PR60-100-90, and the output torque of the motor drives the first large arm plate 8 to rotate after being amplified by the harmonic reducer to assist the buckling or stretching of the shoulder joint.
Further, the upper limb of the whole body exoskeleton adopts 4 degrees of freedom, the lower limb adopts 5 degrees of freedom, and the flexibility is strong.
Further, the inner side of the binding band at the upper end of the backboard 3 is provided with a sponge ventilation shoulder pad; the inner side of the back plate 3, the inner side of the big arm supporting plate 9, the inner side of the small arm supporting plate 13, the inner side of the thigh supporting plate 22, the inner side of the small leg supporting plate 27 and the inner side of the waist plate 14 are all provided with high-density sponge pads, so that the wearing comfort is improved.
Further, the whole body exoskeleton is processed by 6061-T6 aluminum alloy except for a servo motor, a hinge, a spring and a bolt, and the whole weight is less than 10kg.
Rotation of the whole body exoskeleton shoulder hinge assists shoulder joint internal/external rotation; the rotation of the third connecting plate of the shoulder assists the adduction/abduction of the shoulder joint; the rotation of the servo motor drives the shoulder joint to flex/stretch so as to realize the function of lifting the heavy object; the forearm plate rotates around the second large arm plate, and the elbow joint is assisted to flex/stretch under the passive assistance of the tension spring; rotation of the hip hinge assists hip internal/external rotation; rotation of the hip third connecting plate around the end of the hip second connecting plate assists in hip adduction/abduction; rotation of the first thigh plate about the hip fourth web end assists hip flexion/extension; the first calf plate can rotate around the end of the second thigh plate to assist knee flexion/extension; rotation of the foot plate about the third calf plate end assists ankle flexion/extension.
Through the design of binding the whole body at a plurality of positions, the wearing comfort is ensured, so that the load is mainly transmitted to the ground through the exoskeleton, and partial load is uniformly born by the whole body.
Specific examples:
the present embodiment will be described with reference to fig. 2, in which the belt back plate mechanism according to the present embodiment includes: a back plate 3 and a waist plate 14. A plurality of long and narrow square grooves are symmetrically formed in the upper end of the backboard 3 and two sides of the middle of the backboard, and a binding belt can be fixed; two sides of the middle part of the waist plate 14 are provided with long and narrow square grooves for fixing abdomen binding bands; the middle part of the waist plate 14 is provided with two rows of through holes which are fixed with the back plate 3 through bolts so as to realize the length adjustment of the back part; the backboard 3 is provided with round hole square grooves for weight reduction and the waist board 14 is provided with square grooves for weight reduction.
The present embodiment will be described with reference to fig. 3 and 4, in which the shoulder mechanism includes: a first shoulder connection plate 2, a shoulder hinge 4, a second shoulder connection plate 1, a third shoulder connection plate 5, a fourth shoulder connection plate 6 and a driving device 7; the shoulder hinge 4 assists the shoulder joint to rotate inwards/outwards; the rotation of the third shoulder connecting plate 5 around the second shoulder connecting plate 1 assists the shoulder joint to abduct/adduction, and meanwhile, the mechanical limit at the second shoulder connecting plate 1 limits adduction, so that adduction compression can not be caused to a big arm when carrying heavy objects, and the load of a wearer is reduced; the multiple rows of through holes of the first shoulder connecting plate 2 and the fourth shoulder connecting plate 6 can realize length adjustment on shoulder width and large arm thickness; the driving device 7 is an intelligent controller integrating a servo motor, a harmonic reducer and an encoder into a whole; the inertial measurement unit and the film pressure sensor are utilized to collect motion information and feed the motion information back to the upper computer, the operation intention of a wearer is judged, and then the motor is driven to rotate, so that active assistance is provided for the wearer; the servo motor is a disc motor of model QDD Pro-PR60-100-90, and the output torque of the motor drives the first large arm plate 8 to rotate after being amplified by the harmonic reducer so as to assist the buckling/stretching of the shoulder joint.
The present embodiment will be described with reference to fig. 5, in which the large and small arm mechanism according to the present embodiment includes: the first large arm plate 8, the large arm supporting plate 9, the second large arm plate 12, the tension spring 10, the small arm plate 11 and the small arm supporting plate 13; the small arm plate 11 can rotate around the second large arm plate 12 to assist elbow joint buckling/stretching, meanwhile, the mechanical limit of the second large arm plate 12 enables the elbow joint to have a range of motion of 30-120 degrees, and when a wearer carries a heavy object, the elbow joint is buckled for 30 degrees, the mechanical limit and the tension spring provide support to protect the elbow joint; the big arm supporting plate 9 and the small arm supporting plate 13 respectively bind and fix the big arm and the small arm, support the big arm and the small arm when carrying heavy objects, the positions of the big arm and the small arm are adjustable, and wearing comfort is improved; the first large arm plate 8, the large arm supporting plate 9, the second large arm plate 12, the small arm plate 11 and the small arm supporting plate 13 are all provided with square grooves for weight reduction.
The present embodiment will be described with reference to fig. 6 and 7, in which the hip mechanism includes: a first hip connection plate 15, a second hip connection plate 17, a third hip connection plate 18, a fourth hip connection plate 19, a hip hinge 16, a first thigh plate 21 and a hip compression spring three-section telescopic rod 20; the hip hinge 16 assists hip internal/external rotation; the third hip connection plate 18 rotates around the end of the second hip connection plate 17 to assist the abduction/adduction of the hip joint; the middle part of the second hip connecting plate 17 is provided with a cylindrical bulge, and the cylindrical bulge and a limiting groove of the third hip connecting plate 18 form mechanical limit to limit the abduction limit of the hip joint by 45 degrees and the adduction limit by 20 degrees, so that a certain protection effect is achieved; the first thigh plate 21 can rotate around the end of the fourth hip connecting plate 19 to assist the hip joint to flex/extend; the mechanical limit of the fourth hip connecting plate 19 and the first thigh plate 21 is similar to the mechanical limit of the second hip connecting plate 17 and the third hip connecting plate 18, the limit of the flexion of the hip joint, namely the lifting limit of the thigh rod is 145 degrees, and the limit of the extension of the hip joint is 40 degrees; the hip compression spring three-section telescopic rod 20 is in a compressed state when a wearer stands upright, and provides a supporting effect for the exoskeleton upper limb and the load thereof; when the wearer squats down, the telescopic rod 20 stretches, the upper end of the pressure spring is separated from contact with the upper base 20-6, and the pressure spring is in a relaxed state. The first hip connecting plate 15 and the fourth hip connecting plate 19 are respectively provided with a plurality of through holes for adjusting crotch width and thigh thickness, thereby increasing the applicable crowd range and improving wearing comfort; the first hip connecting plate 15, the third hip connecting plate 18, the fourth hip connecting plate 19 and the first thigh plate 21 are all provided with square grooves for weight reduction.
The present embodiment will be described with reference to fig. 8, in which the thigh/calf mechanism according to the present embodiment includes: a second thigh plate 23, a thigh support plate 22, a first shank plate 25, a second shank plate 26, a third shank plate 28, a shank support plate 27, a foot plate 29, and a leg compression spring three-stage telescopic rod 24; the first lower leg plate 25 is rotatable about the second thigh plate 23 to assist knee flexion/extension; one end of the second thigh plate 23 is provided with a cylindrical bulge, and forms mechanical limit with a limit groove of the first shank plate 25, so that the knee joint is limited from being excessively stretched, the stretching limit is normally straightened by 0 degrees, and the knee joint bending limit is limited by 135 degrees; one end of the second thigh plate 23 is provided with a plurality of through holes, so that the thigh length can be adjusted, one end of the third shank plate 28 is provided with a plurality of through holes, the shank length can be adjusted, the applicable crowd range is increased, and the wearing comfort is improved; thigh support plate 22 and shank support plate 27 respectively bind and fix the thigh and the shank, support the thigh and the shank when carrying heavy objects, and the positions are adjustable, so that wearing comfort is improved; the foot plate 29 is hinged with the third lower leg plate 28 through a shaft shoulder bolt to assist the ankle joint to flex/stretch; when the wearer stands upright, the pressure spring is in a relaxed state, and when the wearer squats down, the pressure spring is compressed to provide partial support for the exoskeleton of the lower limb; the second thigh plate 23, thigh support plate 22, first shank plate 25, second shank plate 26, third shank plate 28, shank support plate 27 and foot plate 29 are provided with square grooves for weight reduction.
The three-stage telescopic rod 20 for a hip compression spring according to the present embodiment includes: a lower base 20-1, a thick cylinder 20-2, a pressure spring 20-3, a middle cylinder 20-4, a thin cylinder 20-5 and an upper base 20-6; through holes are formed in the cylindrical end of the upper base 20-6 and the end of the thin cylinder 20-5, and the cylindrical end and the thin cylinder are fixed through bolts; one end of the lower base 20-1 is fixed with one end of the coarse cylinder 20-2 through four bolts; the length and the diameter of one end part of the thin cylinder 20-5 are increased and are in clearance fit with the inside of the middle cylinder 20-4, the length of one end part of the middle cylinder 20-4 is provided with a bayonet, and the bayonet is provided with a through hole and is in clearance fit with the middle part of the thin cylinder 20-5, so that the two pistons can always be coaxial when moving; the cooperation of the middle cylinder 20-4 and the thick cylinder 20-2 is similar to the connection mode of the thin cylinder 20-5 and the middle cylinder 20-4; the side surfaces of the coarse cylinder 20-2 and the middle cylinder 20-4 are respectively provided with a through hole for exhausting, so that resistance caused by inconsistent air pressure in the closed pipeline and atmospheric pressure when the telescopic rod is stretched and compressed is prevented, and lubricating oil is conveniently added from the through holes; the hip compression spring 20-3 is in a compressed state when the wearer is upright, providing support for the hip mechanism; when a wearer squats down, the telescopic rod stretches, the hip pressure spring 20-3 is in a relaxed state to a certain extent, the upper end of the telescopic rod is separated from contact with the upper base 20-6, and the whole telescopic rod is not interfered with other structures; the leg compression spring three-section type telescopic rod 24 is similar to the hip compression spring three-section type telescopic rod 20 in structure, the compression springs are in a relaxed state when a wearer stands upright, and the telescopic rod and the compression springs are compressed when the wearer squats down to provide partial support for the lower limb exoskeleton; when the wearer gets up, the compression spring is gradually loosened to recover the original length, so that the assistance is provided for the wearer; the telescopic rods are all arranged on the outer side of the exoskeleton of the lower limb, and the lower limb does not interfere with other structures when moving.
Claims (6)
1. The whole body exoskeleton facing the carrying assistance is characterized by comprising a waist backboard mechanism, a shoulder mechanism, a big arm mechanism, a small arm mechanism, a hip mechanism and a big leg mechanism; the shoulder mechanism is provided with a left part and a right part which are the same and are respectively fixedly connected with the left end and the right end of the top of the waist and back plate mechanism; the large arm mechanism and the small arm mechanism are provided with a left part and a right part which are the same and are respectively connected with the left part and the right part of the shoulder mechanism; the hip mechanism is provided with a left part and a right part which are the same and are fixedly connected with the left end and the right end of the bottom of the waist and back plate mechanism respectively; the thigh and calf mechanism is provided with a left part and a right part which are the same and are fixedly connected with the left part and the right part of the hip mechanism respectively; the whole body exoskeleton is integrally formed into a human shape, and is fixed with a wearer through a binding belt when in use;
the waist and back plate mechanism comprises a back plate and a waist plate; the backboard is T-shaped, and a plurality of through holes are formed in the left end and the right end of the top and are used for being connected with the shoulder mechanism; a plurality of rectangular grooves are symmetrically formed in the two sides of the top and the middle of the backboard and are used for fixing the binding bands; two vertical rows of through holes are formed in the lower end of the backboard and are used for being connected with the waist board; the waist plate is in an inverted T shape, two vertical rows of through holes are formed in the middle of the waist plate, fixed connection is achieved through the cooperation of bolts and the through holes of the back plate, and the length adjustment of the waist-back plate mechanism is achieved through changing the alignment position of the through holes by moving the waist plate up and down; rectangular grooves are formed in the left side and the right side of the waist plate and used for fixing the binding bands; the left end and the right end of the bottom of the waist plate are provided with a plurality of through holes for connecting with a hip mechanism;
The left part of the shoulder mechanism comprises a first shoulder connecting plate, a shoulder hinge, a second shoulder connecting plate, a third shoulder connecting plate, a fourth shoulder connecting plate and a driving device; the first shoulder connecting plate is provided with a plurality of rows of through holes, the through holes at the left end of the top of the backboard are matched with each other through bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the first shoulder connecting plate left and right to realize whole-body exoskeleton shoulder width adjustment; the first shoulder connecting plate and the second shoulder connecting plate are connected through a shoulder hinge, and the shoulder hinge assists the shoulder joint to rotate inwards or outwards; the middle parts of the third shoulder connecting plate and the second shoulder connecting plate are provided with through holes, the third shoulder connecting plate and the second shoulder connecting plate are hinged through shaft shoulder bolts, and the third shoulder connecting plate can rotate around the second shoulder connecting plate to assist the outward extension and inward retraction of shoulder joints; the fourth shoulder connecting plate is provided with a plurality of rows of through holes, the through holes on the third shoulder connecting plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the third shoulder connecting plate left and right to realize the length adjustment of the whole-body exoskeleton big arm; the driving device is fixedly arranged on the fourth shoulder connecting plate; the right part and the left part of the shoulder mechanism are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetry axis;
The left part of the big and small arm mechanism comprises a first big arm plate, a big arm supporting plate, a second big arm plate, a tension spring, a small arm plate and a small arm supporting plate; one end of the first large arm plate is connected with a driving device, and the driving device can drive the first large arm plate to rotate; the other end of the first large arm plate is provided with a plurality of rows of through holes, the through holes on the second large arm plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the second large arm plate to realize the length adjustment of the whole-body exoskeleton large arm; the large arm supporting plate is fixedly arranged on the first large arm plate, plays a binding and fixing role on the large arm, and provides support for the large arm when carrying heavy objects; the small arm plate and the end part of the second large arm plate are provided with through holes, the small arm plate and the second large arm plate are hinged by using shoulder bolts, and the small arm plate can rotate around the second large arm plate to assist the whole body exoskeleton elbow joint to bend and stretch; the mechanical limiting plate is arranged on the second large arm plate, so that the whole body exoskeleton elbow joint movement range is 30-120 degrees when the small arm plate rotates; one end of the tension spring is connected with the first large arm plate, and the other end of the tension spring is connected with the small arm plate, so that passive assistance is provided for wearing a carrying heavy object; the small arm supporting plate is fixedly arranged on the small arm plate, plays a binding and fixing role on the small arm, and provides support for the small arm when carrying heavy objects; square grooves are formed in the first big arm plate and the big arm supporting plate and used for fixing the binding belt and the big arm of a wearer; the end part of the forearm plate is provided with a square groove for fixing the binding belt and binding the wrist of a wearer; the right part and the left part of the large arm mechanism and the small arm mechanism are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetrical axis;
The left part of the hip mechanism comprises a first hip connecting plate, a second hip connecting plate, a third hip connecting plate, a fourth hip connecting plate, a hip hinge, a first thigh plate and a hip pressure spring three-section telescopic rod; the first hip connecting plate is provided with a plurality of rows of through holes, the through holes at the left end of the bottom of the waist plate are matched with bolts to realize fixed connection, and the waist plate is moved left and right to change the alignment position of the through holes to realize crotch width adjustment of the whole body exoskeleton; the first hip connecting plate and the second hip connecting plate are connected through a hip hinge to assist the internal rotation or the external rotation of the hip joint of the whole body exoskeleton; the middle part of the second hip connecting plate is provided with a cylindrical bulge, and forms mechanical limit with a limit groove of a third hip connecting plate, and the third hip connecting plate rotates around the end part of the second hip connecting plate to assist the abduction or adduction of the whole body exoskeleton hip joint, and simultaneously limit the abduction limit of the hip joint by 45 degrees and the adduction limit by 20 degrees, so that the hip joint has a protection function; one end of the fourth hip connecting plate is provided with a plurality of rows of through holes, the through holes at the end part of the third hip connecting plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the third hip connecting plate left and right to realize thickness adjustment of thighs of the whole body exoskeleton; the other end of the fourth hip connecting plate is provided with a cylindrical bulge, and the cylindrical bulge and an upper end limiting groove of the first thigh plate form mechanical limit, the first thigh plate rotates around the end part of the fourth hip connecting plate to assist the whole body exoskeleton to assist the hip joint to flex or extend, the hip joint to flex, namely, the thigh rod to lift up is limited to 145 degrees, and the hip joint to extend to limit to 40 degrees, so that the hip joint protection function is realized; the hip pressure spring three-section type telescopic rod is hinged with the third hip connecting plate and the first thigh plate through shaft shoulder bolts respectively; the hip pressure spring three-section telescopic rod is in a compressed state when a wearer stands upright, and provides a supporting function for the exoskeleton upper limb and the load thereof; when the wearer squats down, the telescopic rod stretches, and the pressure spring is in a relaxed state; the right part and the left part of the hip mechanism are symmetrically arranged by taking the vertical central axis of the waist backboard mechanism as a symmetrical axis;
The three-section telescopic rod of the hip pressure spring comprises an upper base, a thin barrel, a middle barrel, a thick barrel, a lower base and the hip pressure spring; one end of the upper base and one end of the thin cylinder are respectively provided with a through hole, and the upper base and the thin cylinder are fixed by bolts; the diameter of the other end of the thin cylinder is increased, and the thin cylinder is in clearance fit with the inner part of the middle cylinder; one end of the middle cylinder is provided with a bayonet, the bayonet is provided with a through hole and is in clearance fit with the middle part of the thin cylinder, so that the middle cylinder and the thin cylinder piston can always be coaxial when moving; the matching mode of the middle cylinder and the coarse cylinder is the same as that of the fine cylinder and the middle cylinder; one end of the lower base is fixed with one end of the thick cylinder through four bolts; the side surfaces of the thick cylinder and the middle cylinder are respectively provided with a through hole for exhausting, so that resistance caused by inconsistent air pressure and air pressure in the airtight pipeline when the hip pressure spring three-section type telescopic rod is stretched and compressed is prevented, and lubricating oil is conveniently added from the through holes; the hip pressure spring is sleeved on the thin cylinder, the middle cylinder and the thick cylinder, one end of the hip pressure spring is fixed on the lower base, the other end of the hip pressure spring is suspended, and the hip pressure spring is in a compressed state when a wearer stands upright, so that support is provided for the hip of the wearer; when a wearer squats down, the three-section telescopic rod of the hip pressure spring stretches, the upper end of the hip pressure spring is separated from contact with the upper base, and the hip pressure spring is in a relaxed state and is recovered to be original length;
The left part of the thigh-and-calf mechanism comprises a second thigh plate, a thigh supporting plate, a first calf plate, a second calf plate, a third calf plate, a calf supporting plate, a foot plate and a leg pressure spring three-section telescopic rod; one end of the second thigh plate is provided with a plurality of rows of through holes, the through holes at the lower end of the first thigh plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the first thigh plate to realize the adjustment of the thigh length of the whole body exoskeleton; the other end of the second thigh plate is provided with a cylindrical bulge, the cylindrical bulge and a limit groove at the upper end of the first shank plate form mechanical limit, the first shank plate can rotate around the second thigh plate to assist the knee joint to flex or stretch, meanwhile, the knee joint is limited to not stretch excessively, the stretching limit is normally straightened by 0 degrees, and the knee joint is limited to flex limit of 135 degrees; the lower end of the first shank plate and the upper end of the second shank plate are fixed through bolts; the upper end of the third shank plate is provided with a plurality of rows of through holes, the through holes at the lower end of the second shank plate are matched with bolts to realize fixed connection, and the alignment position of the through holes is changed by moving the second shank plate to realize overall exoskeleton shank length adjustment; the foot plate is hinged with the third shank plate through a shaft shoulder bolt to assist the ankle joint to flex or stretch; the foot plate is hinged with the third shank plate through a shaft shoulder bolt to assist the ankle joint to flex/stretch; the leg pressure spring three-section type telescopic rod is hinged with the second thigh plate and the second shank plate through shaft shoulder bolts respectively; the working principle of the leg pressure spring three-section type telescopic rod is the same as that of the hip pressure spring three-section type telescopic rod, when a wearer stands upright, the pressure spring of the leg pressure spring three-section type telescopic rod is in a relaxed state, and when the wearer squats down, the pressure spring of the leg pressure spring three-section type telescopic rod is compressed to provide partial support for the lower limb exoskeleton; the thigh supporting plate is fixedly arranged on the second thigh plate, plays a binding and fixing role on the thigh, and provides support for the thigh when carrying heavy objects; the lower leg supporting plate is fixedly arranged on the third lower leg plate, plays a binding and fixing role on the lower leg, and provides support for the lower leg when carrying heavy objects; the second thigh plate, the thigh supporting plate, the first shank plate, the second shank plate, the third shank plate and the shank supporting plate are respectively provided with square grooves, and the thigh and shank binding is respectively realized by the universal fixing binding bands; the foot plate is provided with a square groove for fixing the binding belt to bind the foot plate; the right part and the left part of the thigh and shank mechanism are symmetrically arranged by taking the vertical central axis of the waist and back plate mechanism as a symmetrical axis.
2. The transport-assist whole body exoskeleton of claim 1 wherein the back plate, waist plate, first thigh plate, thigh support plate, forearm support plate, first hip connection plate, third hip connection plate, fourth hip connection plate, first thigh plate, second thigh plate, thigh support plate, first shank plate, second shank plate, third shank plate, shank support plate and foot plate are provided with square grooves for weight reduction.
3. The whole body exoskeleton of claim 1, wherein the driving device is an intelligent controller integrated with a servo motor, a harmonic reducer and an encoder, and the inertial measurement unit and the film pressure sensor are used for collecting motion information of a wearer and feeding the motion information back to the upper computer, judging the operation intention of the wearer, and then driving the motor to rotate so as to provide active assistance for the wearer.
4. A whole body exoskeleton facing to carrying assistance according to claim 3, wherein the servo motor is a disc motor of model QDD Pro-PR60-100-90, and the output torque of the motor is amplified by a harmonic reducer to drive the first large arm plate to rotate, thereby assisting the flexion or extension of the shoulder joint.
5. A transport-assist whole body exoskeleton according to claim 1 wherein the upper limb of the whole body exoskeleton has 4 degrees of freedom and the lower limb has 5 degrees of freedom.
6. The whole body exoskeleton facing to carrying assistance according to claim 1, wherein the inner side of the strap at the upper end of the backboard is a sponge ventilation shoulder pad; the high-density sponge pads are arranged on the inner side of the back plate, the inner side of the big arm supporting plate, the inner side of the small arm supporting plate, the inner side of the thigh supporting plate, the inner side of the small leg supporting plate and the inner side of the waist plate, so that wearing comfort is improved.
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| CN116945138A (en) * | 2023-09-20 | 2023-10-27 | 广东电网有限责任公司江门供电局 | Exoskeleton for grounding work of high-voltage electric equipment |
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